#include "GLDebugDrawer.h"

#if defined(__APPLE__)
#  include <OpenGL/gl.h>
//#  include <OpenGL/glu.h>
#else
#  include <GL/gl.h>
//#  include <GL/glu.h>
#endif

#include <stdio.h> //printf debugging

GLDebugDrawer::GLDebugDrawer()
    :m_debugMode(0)
{

}

void GLDebugDrawer::drawLine(const btVector3& from,const btVector3& to,const btVector3& fromColor, const btVector3& toColor) {
  glBegin(GL_LINES);
  glColor3f(fromColor.getX(), fromColor.getY(), fromColor.getZ());
  glVertex3d(from.getX(), from.getY(), from.getZ());
  glColor3f(toColor.getX(), toColor.getY(), toColor.getZ());
  glVertex3d(to.getX(), to.getY(), to.getZ());
  glEnd();
}

void GLDebugDrawer::drawLine(const btVector3& from,const btVector3& to,const btVector3& color) {
  drawLine(from,to,color,color);
}

void GLDebugDrawer::drawSphere (const btVector3& p, btScalar radius, const btVector3& color)
{
  glColor4f (color.getX(), color.getY(), color.getZ(), btScalar(1.0f));
  glPushMatrix ();
  glTranslatef (p.getX(), p.getY(), p.getZ());

  int lats = 5;
  int longs = 5;

  int i, j;
  for(i = 0; i <= lats; i++) {
    btScalar lat0 = SIMD_PI * (-btScalar(0.5) + (btScalar) (i - 1) / lats);
    btScalar z0  = radius*sin(lat0);
    btScalar zr0 =  radius*cos(lat0);

    btScalar lat1 = SIMD_PI * (-btScalar(0.5) + (btScalar) i / lats);
    btScalar z1 = radius*sin(lat1);
    btScalar zr1 = radius*cos(lat1);

    glBegin(GL_QUAD_STRIP);
    for(j = 0; j <= longs; j++) {
      btScalar lng = 2 * SIMD_PI * (btScalar) (j - 1) / longs;
      btScalar x = cos(lng);
      btScalar y = sin(lng);

      glNormal3f(x * zr0, y * zr0, z0);
      glVertex3f(x * zr0, y * zr0, z0);
      glNormal3f(x * zr1, y * zr1, z1);
      glVertex3f(x * zr1, y * zr1, z1);
    }
    glEnd();
  }

  glPopMatrix();
}

void GLDebugDrawer::drawBox (const btVector3& boxMin, const btVector3& boxMax, const btVector3& color, btScalar alpha)
{
  btVector3 halfExtent = (boxMax - boxMin) * btScalar(0.5f);
  btVector3 center = (boxMax + boxMin) * btScalar(0.5f);
  //glEnable(GL_BLEND);     // Turn blending On
  //glBlendFunc(GL_SRC_ALPHA, GL_ONE);
  glColor4f (color.getX(), color.getY(), color.getZ(), alpha);
  glPushMatrix ();
  glTranslatef (center.getX(), center.getY(), center.getZ());
  glScaled(2*halfExtent[0], 2*halfExtent[1], 2*halfExtent[2]);
  //	glutSolidCube(1.0);
  glPopMatrix ();
  //glDisable(GL_BLEND);
}

void GLDebugDrawer::drawTriangle(const btVector3& a,const btVector3& b,const btVector3& c,const btVector3& color,btScalar alpha) {
  const btVector3	n=btCross(b-a,c-a).normalized();
  glBegin(GL_TRIANGLES);		
  glColor4f(color.getX(), color.getY(), color.getZ(),alpha);
  glNormal3d(n.getX(),n.getY(),n.getZ());
  glVertex3d(a.getX(),a.getY(),a.getZ());
  glVertex3d(b.getX(),b.getY(),b.getZ());
  glVertex3d(c.getX(),c.getY(),c.getZ());
  glEnd();
}

void GLDebugDrawer::setDebugMode(int debugMode)
{
  m_debugMode = debugMode;

}

void GLDebugDrawer::draw3dText(const btVector3& location,const char* textString)
{
  glRasterPos3f(location.x(),  location.y(),  location.z());
  //BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),textString);
}

void GLDebugDrawer::reportErrorWarning(const char* warningString)
{
  printf("%s\n",warningString);
}

void GLDebugDrawer::drawContactPoint(const btVector3& pointOnB,const btVector3& normalOnB,btScalar distance,int lifeTime,const btVector3& color)
{
	
  {
    btVector3 to=pointOnB+normalOnB*distance;
    const btVector3&from = pointOnB;
    glColor4f(color.getX(), color.getY(), color.getZ(),1.f);
    //glColor4f(0,0,0,1.f);

    glBegin(GL_LINES);
    glVertex3d(from.getX(), from.getY(), from.getZ());
    glVertex3d(to.getX(), to.getY(), to.getZ());
    glEnd();

		
    glRasterPos3f(from.x(),  from.y(),  from.z());
  }
}





